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updated CARLA to allow the usage of predefined experiment suites

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itaicaspi-intel
2018-09-14 18:07:24 +03:00
parent e8a2b679d1
commit f8d3574b8c
3 changed files with 37 additions and 23 deletions
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10
rl_coach/presets/CARLA_CIL.py
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@@ -40,7 +40,7 @@ agent_params = CILAgentParameters()
# forward camera and measurements input
agent_params.network_wrappers['main'].input_embedders_parameters = {
'forward_camera': InputEmbedderParameters(scheme=[Conv2d([32, 5, 2]),
'CameraRGB': InputEmbedderParameters(scheme=[Conv2d([32, 5, 2]),
Conv2d([32, 3, 1]),
Conv2d([64, 3, 2]),
Conv2d([64, 3, 1]),
@@ -80,13 +80,13 @@ agent_params.network_wrappers['main'].learning_rate = 0.0002
# crop and rescale the image + use only the forward speed measurement
agent_params.input_filter = InputFilter()
agent_params.input_filter.add_observation_filter('forward_camera', 'cropping',
agent_params.input_filter.add_observation_filter('CameraRGB', 'cropping',
ObservationCropFilter(crop_low=np.array([115, 0, 0]),
crop_high=np.array([510, -1, -1])))
agent_params.input_filter.add_observation_filter('forward_camera', 'rescale',
agent_params.input_filter.add_observation_filter('CameraRGB', 'rescale',
ObservationRescaleToSizeFilter(
ImageObservationSpace(np.array([88, 200, 3]), high=255)))
agent_params.input_filter.add_observation_filter('forward_camera', 'to_uint8', ObservationToUInt8Filter(0, 255))
agent_params.input_filter.add_observation_filter('CameraRGB', 'to_uint8', ObservationToUInt8Filter(0, 255))
agent_params.input_filter.add_observation_filter(
'measurements', 'select_speed',
ObservationReductionBySubPartsNameFilter(
@@ -113,7 +113,7 @@ agent_params.memory.num_classes = 4
###############
env_params = CarlaEnvironmentParameters()
env_params.level = 'town1'
env_params.cameras = [CameraTypes.FRONT]
env_params.cameras = ['CameraRGB']
env_params.camera_height = 600
env_params.camera_width = 800
env_params.allow_braking = False